Synchronized Side-by-Side Display of Live Video and Corresponding Virtual Environment Images

ABSTRACT

Systems and methods for synchronized display of visualizations of three-dimensional (3-D) models and video images of aircraft for use in assembly of an aircraft. A video display process is configured to process the video image data so that the video images will have a user-selected viewpoint when displayed. In one embodiment, the user selects a virtual view direction and a smaller field-of-view from a full 360-degree field-of-view. A client request process is configured to construct and transmit a command data string containing encoded data specifying parameter values of the viewpoint representation formatted for 3-D model visualization. A server response process is configured to receive and decode the command data string into the specified parameter values representing the user-selected viewpoint for three-dimensional model visualization. A 3-D model visualization process is configured to process the 3-D model data so that 3-D model visualizations will have the user-selected viewpoint when displayed.

RELATED PATENT APPLICATION

This application is a continuation-in-part of and claims priority from U.S. patent application Ser. No. 15/261,099 (hereinafter “parent application”) filed on Sep. 9, 2016.

BACKGROUND

This disclosure generally relates to the display of synchronized side-by-side viewing of camera-captured and computer-generated images of complex objects (such as aircraft) during design, assembly, maintenance, and performance analysis.

When building or maintaining a complex object like an aircraft, it is useful to have access to photographic imagery (e.g., panoramic images) showing the assembled or partially assembled object. But this “as-built” representation takes time to acquire and may not be available for all instances of the target object (especially instances that are not built yet).

A three-dimensional (3-D) model visualization system may be used to display images representing portions and/or individual components of one or more 3-D models of a complex object within a graphical user interface. As used herein, the term “3-D model” means a 3-D computer-aided design (CAD) or other similar model (sometimes referred to as a solid model). Visualization systems may be used to perform various operations with respect to the image of the object. For example, a user may use a 3-D model visualization system to navigate to a location in the 3-D visualization environment to view a particular part or assembly of parts within an object for the purpose of identifying information for use in performing an inspection or a repair. Visualization of 3-D models can provide an “as-designed” representation of the target object or environment and can be created before the target object exists, but changes or updates that occur during assembly might not be available in this representation of the target object.

In the aviation industry, users who need visual information about an aircraft typically walk to the aircraft to see how some portion of the aircraft was assembled or try to determine information from two-dimensional (2-D) drawings. Three-dimensional visualization systems are also available, but do not usually include photorealistic representations or as-built condition of assembly of the scene.

Existing photographic image-based viewer applications, such as “virtual tour” applications that use spherical panoramic images and spherical image viewers, improved this situation by allowing users to view real-world panoramic images of a previous version of the aircraft from multiple locations on a personal computer (PC), laptop, or tablet—but they could not display the current version of the aircraft. As used herein, the term “panoramic image viewer application” refers to the class of photographic image-based viewer applications that use one or more curvilinear or stitched rectilinear photographic images to provide a 360-degree representation of the target environment, a portion of which will be shown to the user in the form of a transformed rectilinear image in the panoramic image viewer application. In addition, an existing 3-D model visualization application also allows users to see models of the nominal designs for specific line number aircraft in context, but the images generated by the 3-D visualization are not usually photorealistic and do not show the physical condition of assembly and may miss some of the subtle features of the actual aircraft.

While existing virtual tour types of applications provide as-built visual data, that data is captured for a specific line number aircraft, which may not be exactly how subsequent (or prior) aircraft look. Also, parts could not be removed from the digital photographs to show what is behind them unless additional photos are captured at different phases of the build. In contrast, the existing 3-D model visualization application has the ability to show 3-D data for each specific line number aircraft, but cannot show the as-built environment, which also has a visual difference (since the images rendered in the 3-D visualization are usually non-photorealistic).

It would be desirable to provide enhancements that address the shortcomings of each of the above-described approaches by providing methods for combined use of data from physical (i.e., photographic or video) images and 3-D models.

SUMMARY

The subject matter disclosed in the parent application (portions of which are repeated herein) was directed to systems and methods that enable the display of both “as-built” and “as-designed” representations and automated data updates of a target object of interest (e.g., specific line number aircrafts). More specifically, the process allows users to display a pre-recorded panoramic image captured for a reference environment, and then display a visualization of the corresponding 3-D model at the same viewpoint. Interprocess communication between a panoramic image viewer application and a 3-D model visualization application provides the ability to synchronize viewpoints, fields-of-view and other display features. This concept is implemented using an application programming interface (API) incorporated in the 3-D model visualization application. It enables communications and data sharing between an image-based viewer application and a 3-D model visualization application. In at least some embodiments, the interprocess communication is configured to enable the synchronization of views for side-by-side display.

The pre-recorded panoramic image-based concept briefly described in the preceding paragraph can be extended by providing a system for synchronized display of video images and visualization of 3-D models. More specifically, this disclosure describes a process that allows users to view live video of a target object from a video camera having a wide field-of-view (hereinafter “wide-FOV video camera) or a video camera mounted to a pan-tilt mechanism (which may in turn be mounted on a tripod or a mobile platform) while simultaneously visualizing the corresponding 3-D models from the equivalent viewpoint. For example, the 3-D model is for a current production aircraft, whereas the video camera may be aimed at either the same current production aircraft or a reference production aircraft of the same model type. This creates a type of side-by-side augmented reality capability for remote environments. Interprocess communication between a live video display application and a 3-D model visualization application provides the ability to synchronize viewpoints, field-of-view angles (horizontal and vertical) and other display features.

As used herein, the term “current production aircraft” means an aircraft still in the process of being assembled. As used herein, the term “reference production aircraft” means a similar aircraft that is at a different stage of production than the current production aircraft. This different stage of production may be that the reference production aircraft has been fully assembled. The reference production aircraft is a representative aircraft that can be compared to a current production aircraft of the same model, which current production aircraft can be displayed in a 3-D model viewer. (There is significant commonality between aircraft of the same model type. This is especially true for a group of aircraft ordered by an airline. For example, if an airline orders twenty airplanes of the same type, the first one of this group might be considered the “reference production aircraft” and have panoramic or video images captured for it, which will then be used as the reference for the other nineteen airplanes in that lot.)

The embodiments described in some detail below address the respective limitations of the panoramic imaging and 3-D model visualization approaches by providing methods for combined use of data from physical (i.e., photographic or video) images and 3-D models. The processes disclosed herein allow users to view panoramic or video images captured for a reference object similar to a target object of interest (or video images of the target object itself), and then view the corresponding 3-D models at the same viewpoint for that target object. One of the specific problems addressed herein is the synchronization of viewpoints between two applications that have different internal representations. This is solved by using viewpoint alignment, data conversion, and interprocess communication between the applications.

As used herein, the term “viewpoint” is the distance and direction from which a camera views and records an object. A visualization system allows a user to view an image of an object from a viewpoint that can be characterized as the apparent location of a virtual camera. As used herein, the term “location” includes both position (e.g., a look-from position having x,y,z coordinates) and orientation (e.g., a look direction vector along a virtual line-of-sight, the endpoints of the look direction vector being the aforementioned look-from position and a look-at point).

In accordance with some embodiments previously described in the parent application, a panoramic image viewer application comprises a panoramic image display process, a viewpoint representation conversion process, and a client data request process. The panoramic image display process is configured to retrieve a panoramic photograph dataset representing a panoramic image of a particular reference production aircraft in response to a panoramic image selection by a user and then display a portion of the panoramic image with a user-selected viewpoint in response to a viewpoint selection by the user.

In the alternative, a video display application can be used instead of a panoramic image viewer application. In accordance with some embodiments, the video display application comprises a camera control process, a video display process, a viewpoint representation conversion process, and a client request process. The video display process is configured to display live video streaming from a video camera having a production aircraft or portion thereof in its field-of-view. By manipulating an input device, a user can activate a remotely located video camera to acquire video image data and then select a viewpoint of a virtual camera for use when displaying video image data captured by the video camera. The user may also adjust the field-of-view of the virtual camera that determines which subset of a video image dataset will be displayed. (It should be appreciated that the viewpoint and field-of-view of the virtual camera may differ from the viewpoint and field-of-view of the actual camera because the video processor is able to select for display only a subset of the full set of video image data acquired by the actual camera.) The video display application is configured to send digital data representing the instantaneous viewpoint and the field-of-view of the virtual camera to a 3-D model visualization application for synchronized display of live video images and a 3-D model visualization having a common viewpoint.

In either case (i.e., panoramic or video images) the viewpoint representation conversion process is configured to convert an internal representation of the user-selected viewpoint to a viewpoint representation formatted for 3-D model visualization. The client request process is configured to construct a command data string containing encoded data specifying parameter values of the viewpoint representation formatted for 3-D model visualization. The client request process sends a hypertext transfer protocol (HTTP) communication containing that command data string via a transmission control protocol (TCP) connection to an external application programming interface (API) defined in a 3-D model visualization application as part of a server response process. The HTTP communication contains virtual camera position and orientation data (the data may also include field-of-view angles) specifying the viewpoint selected by the user in a format required by the 3-D model visualization application. Upon receiving the HTTP communication containing the selected viewpoint information, the external API outputs that viewpoint information in accordance with a non-HTTP protocol to an internal API incorporated in the 3-D model visualization application. The 3-D model visualization process is configured to display a visualization of a corresponding 3-D model of a current production aircraft in a second window with the viewpoint specified in the command data string.

The aspects described at length in the Summary section of the parent application are incorporated by reference herein in their entirety. This continuation-in-part application discloses additional subject matter having the following aspects not disclosed in the parent application.

One aspect of the subject matter newly disclosed below is a system for synchronized display of video images and visualizations of 3-D models for use in assembly of an aircraft, comprising: a non-transitory tangible computer-readable storage medium storing a 3-D model dataset which can be rendered to visualize a 3-D model of a current production aircraft; a video camera having a field-of-view that encompasses at least a portion of either a reference production aircraft or the current production aircraft; a computer system hosting a video display application for displaying video image data captured by the video camera and a 3-D model visualization application for displaying 3-D model data retrieved from non-transitory tangible computer-readable storage medium, the video display application comprising a camera control process, a video display process, a viewpoint representation conversion process and a client request process, while the 3-D model visualization application comprises a 3-D model visualization process and a server response process; a display system configured to facilitate the concurrent display of video image data captured by the video camera and 3-D model data in separate display areas; and an input device interface for converting inputs by a user into electrical signals representing a user-selected viewpoint of a virtual camera for display by the display system of video image data captured by the video camera. The camera control process is configured to generate camera control signals to activate the video camera to capture video images. The video display process is configured to process the video image data received from the video camera so that video images will have the user-selected viewpoint when displayed by the display system. The viewpoint representation conversion process is configured to convert an internal representation of the user-selected viewpoint to a viewpoint representation having a format acceptable to the 3-D model visualization process. The client request process is configured to construct and transmit a command data string containing encoded data specifying parameter values of the viewpoint representation formatted for 3-D model visualization. The server response process is configured to receive and decode the command data string into the specified parameter values for 3-D model visualization. The 3-D model visualization process is configured to retrieve 3-D model data from the non-transitory tangible computer-readable storage medium and then process the 3-D model data so that 3-D model visualizations will have the user-selected viewpoint when displayed by the display system.

In accordance with one embodiment of the system described in the preceding paragraph, the computer system comprises: a video processor that hosts the video display application; a graphics processor that hosts the 3-D model visualization application and is communicatively coupled to the video processor; and a display processor that is communicatively coupled to the video processor, the graphics processor and the display system. The display processor is configured to control the display system to concurrently display video image data received from the video processor in one window and 3-D model data received from the graphics processor in another window.

Another aspect of the subject matter newly disclosed below is a method for synchronized display of video images and 3-D model visualizations for use in assembly of an aircraft, comprising: storing a 3-D model dataset in a non-transitory tangible computer-readable storage medium, which 3-D model dataset, when rendered, will visualize a 3-D model of a current production aircraft; locating a video camera so that a field-of-view of the video camera encompasses at least a portion of either a reference production aircraft or the current production aircraft; converting an input by a user into electrical signals representing a user-selected viewpoint of a virtual camera; activating the video camera to capture video images representing a scene within the field-of-view of the video camera; processing the video image data received from the video camera so that video images will have the user-selected viewpoint when displayed; converting an internal representation of the user-selected viewpoint to a viewpoint representation having a format acceptable to a 3-D model visualization process; constructing and transmitting a command data string containing encoded data specifying parameter values of the viewpoint representation formatted for 3-D model visualization; receiving and decoding the command data string into the specified parameter values for 3-D model visualization; retrieving 3-D model data from the non-transitory tangible computer-readable storage medium; processing the 3-D model data so that 3-D model visualizations will have the user-selected viewpoint when displayed; and concurrently displaying video images and a 3-D model visualization, wherein the displayed video images and the displayed 3-D model visualization have respective viewpoints which approximate if not equal the user-selected viewpoint.

A further aspect of the subject matter newly disclosed below is a method for synchronized display of video images and 3-D model visualizations for use in assembly of an aircraft, comprising: storing a 3-D model dataset in a non-transitory tangible computer-readable storage medium, which 3-D model dataset, when rendered, will visualize a 3-D model of a current production aircraft; activating a video camera to acquire video image data representing a scene within the field-of-view of the video camera, which scene includes at least a portion of a reference production aircraft or the current production aircraft; selecting a user-selected viewpoint of a virtual camera for use in displaying video image data acquired by the video camera; processing the video image data so that video images will have the user-selected viewpoint; converting an internal representation of the user-selected viewpoint to a viewpoint representation having a format acceptable to a 3-D model visualization process; constructing and transmitting a command data string containing encoded data specifying parameter values of the viewpoint representation formatted for 3-D model visualization; receiving and decoding the command data string into the specified parameter values for 3-D model visualization; retrieving 3-D model data from the non-transitory tangible computer-readable storage medium; processing the 3-D model data so that 3-D model visualizations will have the user-selected viewpoint; and concurrently displaying video images with the user-selected viewpoint and a 3-D model visualization with the user-selected viewpoint.

Yet another aspect is a system for synchronized display of video images and visualizations of 3-D models for use in assembly an aircraft, comprising: a first non-transitory tangible computer-readable storage medium storing a 3-D model dataset which can be rendered to visualize a 3-D model of a current production aircraft; a second non-transitory tangible computer-readable storage medium storing video image data which can be processed to display video images of at least a portion of either a reference production aircraft or the current production aircraft; a video processor programmed to execute a video display application for displaying video image data received from the second non-transitory tangible computer-readable storage medium, wherein the video display application comprises a video display process, a viewpoint representation conversion process and a client request process; a graphics processor communicatively coupled to the video processor and programmed to execute a 3-D model visualization application for displaying 3-D model data received from the first non-transitory tangible computer-readable storage medium, wherein the 3-D model visualization application comprises a 3-D model visualization process and a server response process; a display system configured to facilitate the concurrent display of video image data and 3-D model data in separate display areas; a display processor that is communicatively coupled to the video processor, the graphics processor and the display system; and an input device interface for converting inputs by a user into electrical signals representing a user-selected viewpoint of a virtual camera for display by the display system of video image data. The video display process is configured to process the video image data so that video images will have the user-selected viewpoint when displayed by the display system. The viewpoint representation conversion process is configured to convert an internal representation of the user-selected viewpoint to a viewpoint representation having a format acceptable to the 3-D model visualization process. The client request process is configured to construct and transmit a command data string containing encoded data specifying parameter values of the viewpoint representation formatted for 3-D model visualization. The server response process is configured to receive and decode the command data string into the specified parameter values for 3-D model visualization. The 3-D model visualization process is configured to retrieve 3-D model data from the non-transitory tangible computer-readable storage medium and then process the 3-D model data so that 3-D model visualizations will have the user-selected viewpoint when displayed by the display system.

Other aspects of systems and methods for synchronized display of video images and 3-D model visualizations at the same viewpoint are disclosed below.

BRIEF DESCRIPTION OF THE DRAWINGS

The features, functions and advantages discussed in the preceding section can be achieved independently in various embodiments or may be combined in yet other embodiments. Various embodiments will be hereinafter described with reference to drawings for the purpose of illustrating the above-described and other aspects.

FIG. 1 is a diagram showing a display screen with two windows, one window for display of a panoramic image and another window for display of a visualization of a 3-D model.

FIG. 2 is a diagram showing one example of a panoramic image and a 3-D CAD model visualization having the same viewpoint being concurrently displayed in respective windows on a display screen in a synchronized side-by-side configuration.

FIG. 3 is a diagram showing another example of a panoramic image and a 3-D CAD model visualization having the same viewpoint being concurrently displayed in respective windows on a display screen in a synchronized side-by-side configuration.

FIG. 4 is a block diagram showing an architecture in which a panoramic image viewer application and a 3-D CAD model visualization application communicate for the purpose of selecting the viewpoint of the 3-D visualization.

FIG. 5 is a block diagram showing one embodiment of the architecture shown in FIG. 4. In this embodiment, the panoramic image viewer application and the 3-D model visualization application run on a single computer having respective windows for displaying the panoramic image and the 3-D visualization.

FIG. 6 is a block diagram showing another embodiment of the architecture shown in FIG. 4. In this embodiment, the panoramic image viewer application and the 3-D model visualization application run on separate computers which communicate via an Ethernet connection.

FIG. 7 is a block diagram showing an architecture in which multiple clients (in this example, multiple computers running respective panoramic image viewer applications) communicate with a server (in this example, a single computer running a 3-D model visualization application) via respective network connections, such as Ethernet connections.

FIG. 8 is a flowchart identifying steps of a method for side-by-side display of a panoramic image and a 3-D model visualization of a complex object.

FIG. 9 is a flowchart identifying steps of a method for side-by-side display of a panoramic image of a reference production aircraft and a 3-D model visualization of a current production aircraft.

FIG. 10 is a diagram showing a display screen with two windows, one window for display of a video image and another window for display of a visualization of a 3-D model.

FIG. 11 is a block diagram showing an architecture in which a video display application and a 3-D CAD model visualization application communicate for the purpose of selecting the viewpoint of the 3-D visualization.

FIG. 12 is a block diagram showing one embodiment of the architecture shown in FIG. 11. In this embodiment, the video display application and the 3-D model visualization application run on a single computer having respective windows for displaying the video image and the 3-D visualization.

FIG. 13 is a block diagram showing another embodiment of the architecture shown in FIG. 11. In this embodiment, the video display application and the 3-D model visualization application run on separate computers which communicate via an Ethernet connection.

FIG. 14 is a block diagram showing an architecture in which multiple clients (in this example, multiple computers running respective video display applications) communicate with a server (in this example, a single computer running a 3-D model visualization application) via respective network connections, such as Ethernet connections.

FIG. 15 is a flowchart identifying steps of a method for side-by-side display of a video image and a 3-D model visualization of a complex object.

FIG. 16 is a flowchart identifying steps of a method for side-by-side display of a video image and a 3-D model visualization of an aircraft in production.

FIG. 17 is a block diagram identifying components of a computer system suitable for executing the data reception, processing and display functions disclosed herein in accordance with one proposed implementation.

FIG. 18 is a block diagram identifying components of a system that can be used to acquire live video images from a target object.

FIG. 19 is a flowchart identifying steps of a method for side-by-side display of a video image and a 3-D model visualization of an aircraft in production in accordance with one proposed implementation.

Reference will hereinafter be made to the drawings in which similar elements in different drawings bear the same reference numerals.

DETAILED DESCRIPTION

Illustrative embodiments of systems and methods for synchronized display of panoramic or video images and 3-D model visualizations are described in some detail below. However, not all features of an actual implementation are described in this specification. A person skilled in the art will appreciate that in the development of any such actual embodiment, numerous implementation-specific decisions must be made to achieve the developer's specific goals, such as compliance with system-related and business-related constraints, which will vary from one implementation to another. Moreover, it will be appreciated that such a development effort might be complex and time-consuming, but would nevertheless be a routine undertaking for those of ordinary skill in the art having the benefit of this disclosure.

For the purpose of illustration, systems and methods for the synchronized side-by-side display of panoramic or video images and 3-D model visualizations of aircraft or parts thereof will be described in detail below. However, the concept disclosed herein can also be used to enable the synchronized side-by-side display of panoramic images and 3-D model visualizations of complex structures other than aircraft. More specifically, the systems and methods disclosed herein have potential for use within the aerospace industry, as well as in other industries involving complex 3-D environments, such as architecture and shipbuilding.

FIG. 1 shows a display screen 32 with two windows, one window 22 for displaying a first toolbar 26 and a 3-D CAD model visualization 34 of a 3-D model of an object or portion thereof and another window 24 for displaying a second toolbar 28 and a panoramic image 36 of the object or portion thereof. The second toolbar 28 may be used to select the panoramic image 36 from a set of predefined panoramic images, each of which has a corresponding position where the camera was placed in the target environment. In alternate embodiments, an overview map (not shown) with selectable locations may be used to specify the desired panoramic image 36. Using the second toolbar 28 (or overview map), the user starts the process by making a selection of a desired position in the target environment from a representation of possible positions where panoramic images have been captured. The panoramic image for that selected position is then loaded into the application (i.e., the panoramic image viewer). The user can then change the viewpoint in the panoramic image viewer to display a region of interest, i.e., the user can change the viewing region of the selected panoramic image 36 in order to obtain a desired viewpoint. An algorithm in the panoramic image viewer then computes the selected viewpoint in the proper form needed for the 3-D model visualization application, and then sends that data to the 3-D model visualization application. In response to receipt of such communication, a corresponding 3-D CAD model visualization 34 having a viewpoint that matches the viewpoint in the panoramic image viewer will be displayed in window 22. If the user then moves the cursor into window 22, the user can cause the first selected viewpoint of the 3-D visualization to change using pan, tilt and zoom functions. By returning the cursor to window 24, the user can then select a panoramic image 36 having a different viewpoint. In response to that selection, a corresponding 3-D CAD model visualization 34 having a second selected viewpoint that matches the different viewpoint in the panoramic image viewer will be displayed in window 22. If the user moves the cursor back into window 22, the user can move the cursor over the 3-D model visualization to perform tasks like selecting objects to find part numbers.

In alternative embodiments, the user is able to move the mouse to the 3-D model visualization application window 22 and adjust the 3-D environment viewpoint of the 3-D CAD model visualization 34. Then in response, the viewpoint of the display of the panoramic image 36 shown in the panoramic image viewer application window 24 is changed by the automated synchronization process to match the 3-D environment viewpoint.

Two examples of side-by-side display of a 3-D CAD model visualization and a panoramic image on a display screen are shown in FIGS. 2 and 3 in the context of an aircraft in production. FIG. 2 shows a panoramic image 36 a and a 3-D CAD model visualization 34 a of a wheel well area for the main landing gear of an aircraft concurrently displayed in respective windows on a display screen 32 in a synchronized side-by-side configuration. The panoramic image 36 a and 3-D CAD model visualization 34 a have the same viewpoint. FIG. 3 shows a panoramic image 36 b and a 3-D CAD model visualization 34 b of a part of a cargo bay area of an aircraft concurrently displayed in respective windows on a display screen 32 in a synchronized side-by-side configuration. The panoramic image 36 b and 3-D CAD model visualization 34 b have the same viewpoint.

An on-site application for side-by-side display is where the user is holding a tablet PC or other portable computing device in the same location as the target (such as next to or inside an aircraft). In this situation, both the 3-D model visualization application and panoramic image viewer application would usually be running on the same device (e.g., a lightweight device like a tablet).

In accordance with alternative embodiments, the windows that respectively display a panoramic image and a 3-D model visualization can appear on separate display screens of respective display devices that form a display system. These display devices can be placed side by side at a site where a current production aircraft is being produced, where the current production aircraft requires a design modification that is not included in a previously produced reference aircraft.

The systems and methods disclosed herein allow users to view panoramic images captured for a reference target, and then see the corresponding 3-D models in alignment at the same viewpoint for the specific target object of interest. For example, if the target object were an aircraft and the reference images were captured for the initial aircraft (production line number 1), but custom modifications were made for a later production line number aircraft, the systems and methods disclosed herein enable a user to see the captured images for an aircraft that looks very similar to the current aircraft, but then show another view (3-D model) for the specific aircraft in question that includes the design modifications for the current production line number aircraft, whereby modifications are displayed for use in assembly of the current production aircraft.

The concept disclosed herein combines panoramic image display and 3-D model visualization to deliver both “as-built” and “as-designed” representations and automated data updates for a target object of interest (e.g., specific line number aircrafts). More specifically, the process allows users to display a panoramic image captured for a reference environment, and then display a visualization of the corresponding 3-D model at the same viewpoint. Interprocess communication between a panoramic image viewer application and a 3-D model visualization application provides the ability to synchronize viewpoints, fields-of-view and other display features.

FIG. 4 shows an architecture in which a panoramic image viewer application 12 and a 3-D CAD model visualization application 10 communicate via a TCP connection 6 using HTTP for the purpose of enabling a user to select the viewpoint of the 3-D visualization of at least a portion of a 3-D CAD model of an aircraft or other object. More specifically, the 3-D CAD model visualization application 10 and the panoramic image viewer application 12 communicate for the purpose of selecting a viewpoint of the 3-D visualization that matches the viewpoint of the displayed panoramic image. Data representing panoramic images is stored in a panoramic image database 8. Selected panoramic image data can be retrieved by the panoramic image viewer application 12 and then a panoramic image is displayed. Similarly, data representing 3-D CAD models is stored in a 3-D CAD model database 14. Selected 3-D CAD model data can be retrieved by the 3-D CAD model visualization application 10 and rendered into a corresponding 3-D CAD model visualization in display format. The panoramic image database 8 and 3-D CAD model database 14 each comprise datasets stored in a non-transitory tangible computer-readable storage medium. The 3-D visualization process of the 3-D model visualization application 12 provides a graphical representation of aircraft components in their physical form.

In some embodiments, the dataset for a particular panoramic image stored in the panoramic image database 8 can be acquired by setting up a camera on a tripod at a specified position inside a fuselage of an aircraft, rotating the camera about a middle point of the lens so that its line-of-sight is at a first angle, capturing an image while the camera is oriented at the first angle, rotating the camera about the middle point of the lens so that its line-of-sight is at a second angle which differs from the first angle by a specified angle of rotation and its field-of-view (which may be measured in terms of the number of degrees or radians of a solid angle) overlaps the field-of-view when the camera was at the first angle, capturing an image while the camera is oriented at the second angle, and so forth. The process of rotating the camera through a specified angle of rotation and then capturing a respective image is repeated until enough images have been captured to enable those images to be stitched together in a well-known manner to form a dataset representing a 360° panoramic image.

Alternatively, images captured by multiple cameras having overlapping fields-of-view can be stitched together.

In accordance with some embodiments, the panoramic image viewer application 12 is configured to use spherical panoramic images, also known as equirectangular images (typically with a 2:1 aspect ratio). This is a single curvilinear image that is distorted at the top and bottom of the image, but appears rectilinear when mapped to a sphere. An example of this type of application is the “Virtual Tour” viewer. Another type of panoramic image viewer application may use a series of rectilinear images that are mapped to multiple flat surfaces, such as the faces of a cube. An example of this type of cube-based viewer is QuickTime VR (QTVR). Other types of panoramic image viewer applications may use cylindrical mapping or long images that have been captured by a camera (like a slit-scan camera) moving in a linear manner past the target environment.

In accordance with some embodiments, the method for synchronized display involves a panoramic image viewer application 12 that incorporates a client request process and a 3-D model visualization application 10 that incorporates a server response process. These applications may run on processors in respective computer systems or on respective processors in one computer system. The client request process is configured to send an HTTP communication to the server response process. The HTTP communication includes a hypertext command message comprising a string of data specifying the position of a virtual camera, view direction, and the field-of-view angle.

In accordance with one exemplary implementation, the display control method comprises the following steps. First, the user initiates an HTTP-capable panoramic image display process (e.g., one that includes a client request process) and enters an address in the panoramic image database 8 where electronic files storing data representing panoramic images are stored. In response to entry of the address, a multiplicity of names or symbols identifying respective categories of panoramic images is displayed in a first window in the form of a list or a hierarchical tree structure. In response to selection of a category, a multiplicity of names or symbols identifying respective panoramic images belonging to the selected category is displayed in the first window. For example, a multiplicity of panoramic images corresponding to respective scenes of interior portions of a particular aircraft model (e.g., the categories are respective aircraft models) may be identified. In response to user selection of one of the names or symbols identifying one of the panoramic images, the panoramic image viewer process displays the selected panoramic image (or a portion thereof) of the object in the first window. The user can then manipulate the panoramic image until a desired viewpoint is obtained. Respective viewpoints of the panoramic image are associated with respective virtual camera locations of a 3-D model of the object.

In response to user selection of a panoramic image viewpoint, the viewpoint representation conversion process converts the internal representation of the user-selected viewpoint (e.g., the coordinate position, pan and tilt angles, and field-of-view of a camera) to a viewpoint representation having a format acceptable to the 3-D model visualization process (e.g., the coordinate position, look-at position and field-of-view of a virtual camera). The client request process then generates a command message in HTTP. The hypertext message comprises a string of data expressed in hypertext. The data in the string comprises first data specifying a position of a virtual camera associated with the panoramic image viewpoint and second data specifying an orientation of the virtual camera. Optionally, the data in the string may further comprise third data specifying a field-of-view of the virtual camera. The HTTP communication contains virtual camera position and orientation data specifying the viewpoint selected by the user and to be used by the 3-D model visualization process. The command message is then transferred via a TCP connection from the client request process of the panoramic image viewer application 12 to an external application programming interface (API) defined in the 3-D CAD model visualization application 10 as part of a server response process.

Upon receiving the HTTP communication containing selected viewpoint information, the external API outputs that viewpoint information in accordance with a non-HTTP protocol to an internal API incorporated in the 3-D model visualization application 10. In response to receipt of the viewpoint information, the internal API instructs the 3-D visualization process to display a visualization of a 3-D CAD model of the object in a second window with a viewpoint characterized by the virtual camera location specified in the viewpoint information (which viewpoint is the same as the panoramic image viewpoint).

The process described above is enabled by an initial alignment step and then uses a run-time data conversion and interprocess communication between the panoramic image viewer application 12 and the 3-D CAD model visualization application 10 to synchronize the viewpoints and control other display functions. An easy-to-use graphics user interface provides control of the applications in a side-by-side configuration.

An initial alignment calibration process to align the panoramic image data within the coordinate system of the 3-D CAD model (e.g., the coordinate system of the 3-D CAD model of an aircraft) is required in order to synchronize the two types of data. This involves determination of offset values for translation (i.e., position) and rotation (i.e., orientation). It is possible to do this step manually by interactive iterative alignment of the camera used to acquire panoramic images with position markers incorporated in the target object (e.g., markers indicating station, water and butt lines inside a fuselage of an aircraft) or automatically using feature recognition. This process only needs to take place once per image, and the offsets can be applied to convert the coordinates of the panoramic imaging environment to the coordinate system of the 3-D model environment (or the reverse).

In order to provide matching viewpoints between the panoramic photo viewer application 12 and the 3-D CAD model visualization application 10, the viewing data as represented internally by the former must be converted to the form required by the latter, encoded for data transfer (e.g., using HTTP), transmitted (e.g., via a TCP connection), decoded, and then applied.

Looking at this from the panoramic image viewer application side first, a panoramic image in accordance with one embodiment may comprise 20,000 pixels horizontally and 10,000 pixels vertically and may be viewed using a two-axis input that controls the pan and tilt angles of a virtual camera. One approach to converting this data into a form that can be used by a 3-D model visualization application is described next. The approach consists of converting the pan-tilt data into a look-from position, look-at point, and “up” vector format. The vector originating at the look-from position and terminating at the look-at point will be referred to herein as the “look direction vector”. Alternatively, a 4×4 homogeneous transformation matrix and field-of-view could be used, or quaternions and field-of-view, as well as other formats.

The Cartesian look-from position (X,Y,Z) is calculated by adding the translation offset from the initial alignment calibration to the panoramic location. Orientation alignment may be performed by adding angle offsets to the view direction pan and tilt angles.

In most web-based systems, the client application makes a request to the server application, and the server responds to that request. But it is also possible to make the client operate so that it can react to changes that take place on the server. One way in which this can be accomplished is by sending status request commands from the client to the server at regular intervals. For example, the client may request an update status value from the server multiple times per second, and then respond when it gets the signal that something has changed. If the indication is that the update occurred to the viewpoint, the client may request that the current 3-D application viewpoint data be sent from the server to the client, and then react to that by computing the internal panoramic viewpoint representation from the 3-D application viewpoint data sent from the server. For this example, the client is responding to a change on the server, instead of the other way around (as described in previous examples). For this type of “reverse” viewpoint change, the internal panoramic viewer will need to calculate pan and tilt angles from the look-direction vector supplied from the 3-D application. This allows viewpoint synchronization between the client and server when the viewpoint on the server application changes.

In accordance with one aspect, the client request process of the panoramic image viewer application is configured to request an update status value from the server response process of the 3-D model visualization application and then respond when it receives a signal indicating that the 3-D model visualization viewpoint has changed by requesting that a representation of a current 3-D model visualization be sent by the server response process. A viewpoint representation conversion process is configured to convert the representation of the current 3-D model visualization received from the server response process to a viewpoint representation having specified parameter values in a format acceptable to the panoramic image display process. The panoramic image display process is configured to control the display system to display a portion of a panoramic image in a first window with a viewpoint corresponding to the current 3-D model visualization viewpoint in a second window in response to receipt of the specified parameter values from the viewpoint representation conversion process.

Alternate embodiments may use a communication protocol other than Hypertext Transfer Protocol (HTTP), such as Transport Control Protocol (TCP) or User Datagram Protocol (UDP) sockets. Both one-way and bidirectional communications may be supported by socket-based communications.

In cases wherein the client application makes a request to the server application, the pan angle (A) and tilt angle (B) are set to initial values of A=0 and B=0, which is the direction aligned with the X-axis of the target object. The equations for the coordinates of the look-at point are as follows:

Lx=R*cos(A)*cos(B)

Ly=R*sin(A)*cos(B)

Lz=R*sin(B)

where R is the desired range value (typically this is set to 1).

Lastly, the “up” vector is defined as:

UPx=−R̂2*cos(A)*sin(B)

UPy=−R̂2*sin(A)*sin(B)

UPz=R̂2*cos(B)

In some embodiments the look direction vector and the up vector may need to be normalized (which is a well-known mathematical process) before being applied.

To convert back into pan-tilt angles from the 3-D model visualization application to the panoramic image viewer application, the equations are as follows:

A=a tan 2(Ly,Lx)

B=a tan 2(Lz,sqrt(Lx̂2+Lŷ2))

where A is the pan angle and B is the tilt angle. This calculation is the type that would be needed for the “reverse” viewpoint change process described earlier, for situations in which it is desirable to maintain viewpoint synchronization when the viewpoint was changed in the 3-D model visualization application and the viewpoint in the panoramic image viewer application needs to be updated.

Typically, the field-of-view (FOV) value is set to be the same between the two applications. In some embodiments, a scale factor and/or offset may be applied to convert from the panoramic image viewer application field-of-view value to the form used for the 3-D model visualization application field-of-view application.

Next, this data needs to be converted into a form that can be transmitted between the two applications over the interprocess communications connection. One approach to accomplishing this is to use HTTP.

In accordance with one advantageous implementation, the server response process incorporated in the 3-D model visualization application 10 incorporates an external API. Developers of the panoramic image viewer application 12 would then be able to create functions (such as setting a viewpoint) that will generate command data strings of data sent through the HTTP communication connection that comply with the 3-D application API format. The data in each HTTP command data string includes X,Y,Z position and an orientation (look direction vector and up vector) of a virtual camera. Data specifying the field-of-view of a virtual camera may also be included.

An example of an HTTP command data string that sets the viewpoint and FOV is as follows:

http://localhost:12345/?Api=InProc.MoveCamera&cameraId=0&cx=10&cy=20&cz=100&lx=70&ly=0&lz=150&ux=0&uy=0&uz=1&Api=InProc.SetFov&cameraNum=0&fov=60&Api=InProc. Update The position, look direction vector, up vector, and field-of-view values are embedded in this string, which are then decoded by the 3-D model visualization application after receiving the data and then applied to set the viewpoint.

The command data strings sent via a TCP connection to the 3-D model visualization application by the panoramic image viewer application contain the required data in the required format as defined in the 3-D model visualization application's API specification. Such commands also conform to HTTP requirements for communication between a client application (e.g., a client request process in the panoramic image viewer application) and the server response process in the 3-D model visualization application.

The external API incorporated in the server response process of the 3-D CAD model visualization application is exposed for use by external applications (such as the panoramic image viewer application). Once the data string is received by the external API processing function in the 3-D CAD model visualization application, it is processed internally by other non-external API functions to execute the desired capability (such as setting the virtual camera viewpoint command). These internal functions do not use HTTP to communicate with each other. HTTP is only used to get the data transferred between the two applications.

At the lowest level in the 3-D graphics processing, the camera viewpoint may be represented as a 4×4 homogeneous transformation matrix (most common) or any other available format. The command data string that was transferred to the 3-D CAD model visualization application 10 by way of

HTTP is converted to the matrix form by internal functions within the 3-D model visualization application. This is true for the camera viewpoint function. Other functions of the external API may send data that can be used without conversion.

The reference to “localhost” in the exemplary command data string given above is a standard way of referring to the Internet Protocol (IP) network address of a local computer. Alternatively, this field can be the IP address assigned to the computer. It can also be a name (like google.com) that can be resolved by Domain Name System (DNS). In general, this part of the command data string is used in order for the client (e.g., the panoramic image viewer application) to find the network location of the server (e.g., the 3-D model visualization application). The term “localhost” can be used when both the client and server are running on the same computer, but when they are running on different computers, then one of the more explicit IP address forms will need to be used.

Still referring to the sample command data string given above, “InProc” is the name of a class of methods contained within the external API. In some implementations, other classes may be included in the external API. “InProc.MoveCamera” is the actual full name of the API method that sets the camera location. Another method is “InProc.SetFov”, which can be used to set the field-of-view of the virtual camera. The “&cameraId=0” in the sample command data string refers to the specific identifier for camera number 0. The action for the command “Api=InProc.MoveCamera&cameraId=0” means that only camera 0 is being moved and not any of the other cameras.

The variables “cx=”, “cy=” and “cz=” refer to the x, y, z coordinate position of the virtual camera (i.e., the look-from position) in the Cartesian space defined in the 3-D virtual environment. The variables “Ix=”, “Iy=” and “Iz=” are the values of the look direction vector that defines the direction in which the camera is pointed. The variables “ux=”, “uy=” and “uz=” define the up vector, which is a vector that is orthogonal to the look direction vector (used to define the twist along look direction). All of the foregoing variables are used to define the camera location.

The particular syntax of the sample command data strings given above is specific to one implementation. The syntax does not have to appear in this exact form in other possible implementations.

As used herein, the phrase “process the update” refers to processing an update step in the implementation of an event-driven 3-D model visualization application. In this type of application (which is very common for graphical applications), the 3-D rendering only updates the image displayed on the screen when something changes in the environment, and the way in which the 3-D model visualization application processor determines that something has changed is to look for an action event. In a standard application where the processor is looking for inputs from the user, these events could be mouse movements, keyboard button presses, or events from other devices (such as a gamepad etc.). When any of these types of interactive inputs are processed, the operating system automatically creates an action event. In one embodiment of the 3-D model visualization application, the graphics update loop is looking for action events to trigger an update of the display, but in situations where changes are made to the state of the system without an interactive action event, which is what is happening with data coming from the external API, the 3-D model visualization application needs to be commanded to perform an update of the display. That is what the “InProc.Update” command does.

In accordance with some embodiments, the 3-D CAD model visualization application 10 and the panoramic image viewer application 12 run on the same computer. FIG. 5 shows the 3-D CAD model visualization application 10 and panoramic image viewer application 12 running on a single computer 16 having a display interface with respective windows (not shown) for displaying the panoramic image and the 3-D visualization on the same screen. In this configuration, the HTTP communication is via a TCP connection 6.

In accordance with other embodiments, the 3-D CAD model visualization application 10 and the panoramic image viewer application 12 run on different computers, which can be useful in cases where insufficient visualization resources are available on a single computer. FIG. 6 shows the 3-D CAD model visualization application 10 running on a first computer 18 and the panoramic image viewer application 12 running on a second computer 20. In this configuration, the HTTP communication is via an Ethernet connection 4. Each computer has a respective display interface. Computer 18 comprises a display interface having a window (not shown) for displaying the 3-D visualization, while computer 20 comprises a display interface having a window (not shown) for displaying the panoramic image.

The computer 20 may be generally configured to execute a panoramic image viewer application 12 configured to depict a selected portion of a panoramic image that is rendered by a process, such as spherical projection, in the panoramic viewer application to produce a rectilinear image for display to the user. The computer 18 may be generally configured to execute a 3-D CAD model visualization application 10 configured to render for display a digital 3-D model 14 of a structural product composed of a plurality of parts. The 3-D CAD model visualization application 10 may render the digital 3-D model 14 in accordance with a number of techniques, such as those employed by CAD viewers and other 3-D model visualization applications. These types of applications use a graphics application program interface (API), such as OpenGL or Direct3-D, to render sequences of images representing the 3-D models contained within a virtual environment. Some examples include virtual reality modeling language (VRML) viewers, X3-D viewers, Java 3-D viewers, Unity, Unreal Engine or the like.

In one example, the 3-D model may represent the structural product as a collection of “primitives” such as edges, faces, points (e.g., vertices) and the like, which may be arranged into polygons or other arithmetically-derived structures to represent the geometry of surfaces, volumes or parts of the respective structural product. The structural product may be defined by a “boundary” representation, or collection of polygons that demarcate the space occupied by the structural product, which may include sub-collections of polygons that demarcate spaces occupied by respective parts of the structural product. Each of these sub-collections of polygons may be referred to as a 3-D object that corresponds to part of the structural product in the 3-D model. For some structural products, the 3-D model may use hundreds of thousands, millions or even billions of polygons, which may be arranged in thousands of sub-collections of polygons (3-D objects) corresponding to several thousands of parts.

The 3-D model may include information that may indicate a design type of the aircraft model, such as a conceptual model, preliminary design, released design or the like. The 3-D model may include information (e.g., name, number, quantity, source, material, 3-D location, related parts) regarding the structural product and/or one or more of its parts. The 3-D model may further include a model-based definition of the structural product, product manufacturing information such as geometric dimensions and tolerances, material specifications, component lists, process specifications, inspection requirements or the like. Additionally or alternatively, for example, the 3-D model may include information specifying various assembly, inspection, maintenance and/or repair procedures, each of which may include one or more tasks involving user interaction with one or more parts of the structural product. In various examples, this additional information may be provided directly in the 3-D model or in metadata associated with the 3-D model.

The 3-D CAD model visualization application 10 is configured to render the digital 3-D model of the structural product in a scene in which the digital 3-D model (or portions thereof) is observed from a particular point of view (i.e., viewpoint) corresponding to a virtual camera location in the frame of reference of the aircraft. The 3-D CAD model visualization application 10 may open or otherwise initially render the 3-D model observed from a home virtual camera location (i.e., home viewpoint), such as a viewpoint in which the whole of the structural product is observed. The 3-D CAD model visualization application 10 may then receive user input (as disclosed hereinabove) to navigate the 3-D model through a number of different operations such as pan, tilt and/or zoom operations, which may move the viewpoint of the 3-D model from its home to another viewpoint. In this manner, the scene may be focused on a particular portion of the aircraft.

Information regarding the part may also be similarly acquired from the 3-D model or metadata associated with it. As mentioned above, this information may include, for example, the name and/or number of the part, the 3-D location (i.e., position and orientation) of the part, information specifying procedure(s) involving the part, and the like.

In some cases it may be useful to have multiple instances of the panoramic image viewer application running simultaneously, each showing different views, but connected to the same instances of the 3-D model visualization application, where each panoramic display takes turns updating the view in the 3-D model visualization application. FIG. 7 is a block diagram showing an architecture in which a single computer 18 running a 3-D model visualization application 10 is able to communicate with a multiplicity of computers 20 a-20 c running respective panoramic image viewer applications 12 via respective Ethernet connections 4. In accordance with the architecture depicted in FIG. 7, a respective client request process incorporated in each panoramic image viewer application 12 may send command messages to a server which takes the form of a server response process incorporated in the 3-D CAD model visualization application 10. The respective panoramic image viewer applications 12 are preferably different. For example, each panoramic image viewer application 12 may comprise a respective panoramic imaging process which is configured to display panoramic images of the components of respective different aircraft representations in their physical form. For example, different panoramic images may show an aircraft at different stages of assembly. Computer 18 may communicate with computers 20 a-20 c via an Ethernet local area network 2. In alternative embodiments, the HTTP communications between the computers may be via the Internet.

FIG. 8 is a flowchart identifying steps of a method 50 for side-by-side display of a panoramic image and a 3-D model visualization of a complex object in accordance with one embodiment. The method 50 starts with the user selecting a target environment (e.g. a complex object), which consists of a panoramic photographic dataset as well as a 3-D CAD model dataset (step 52) using respective graphical user interfaces displayed on the screen of a computer system. These data sets are retrieved from a non-transitory tangible computer-readable storage medium and then loaded into the panoramic image viewer application and the 3-D CAD model visualization application, respectively (step 54). An interprocess communication connection is established between the panoramic image viewer application and the 3-D CAD model visualization application (step 56). Using the panoramic imaging graphical user interface, the user selects the desired viewpoint in the panoramic image viewer application (step 58). The viewpoint representation conversion process of the panoramic image viewer application then computes the appropriate viewpoint parameter values for the 3-D CAD model visualization application from the current virtual camera location data associated with the panoramic image being displayed by the panoramic image viewer application (step 60). The client request process of the panoramic image viewer application then encodes that current virtual camera location data into a representation (such as a formatted command data string) appropriate for the external API of the 3-D CAD model visualization application and sends the command data string to the 3-D CAD model visualization application over the interprocess communication pathway (e.g., HTTP strings sent over a TCP connection) (step 62). Upon receiving the formatted command data string, the external API of the 3-D CAD model visualization application decodes the command data string into the viewpoint representation to be used by the 3-D CAD model visualization application and the 3-D viewpoint is updated (step 64). A determination is then made whether additional updates are desired or not (step 66). If additional updates are desired, then the process returns to step 56. If additional updates are not desired, then the process terminates.

FIG. 9 is a flowchart identifying steps of a method for side-by-side display of a panoramic image of a reference production aircraft and a 3-D model visualization of a current production aircraft. The method 70 starts with the user selecting a particular reference production aircraft and a captured panoramic photographic dataset associated with the particular reference production aircraft (step 72) using a first graphical user interface displayed on a screen of a computer system. The user also selects a 3-D CAD model dataset associated with a current production aircraft (step 74) using a second graphical user interface displayed on the screen of the computer system. These data sets are retrieved from a non-transitory tangible computer-readable storage medium and then loaded into the panoramic image viewer application and the 3-D CAD model visualization application, respectively (step 76). An interprocess communication connection is established between the panoramic image viewer application and the 3-D CAD model visualization application (step 78). Using the panoramic imaging graphical user interface, the user selects the desired viewpoint in the panoramic image viewer application (step 80). The viewpoint representation conversion process of the panoramic image viewer application then computes the appropriate viewpoint parameter values for the 3-D CAD model visualization application from the current virtual camera location data associated with the panoramic image being displayed by the panoramic image viewer application (step 82). The client request process of the panoramic image viewer application then encodes that current virtual camera location data into a representation (such as a formatted command data string) appropriate for the external API of the 3-D CAD model visualization application and sends the command data string to the 3-D CAD model visualization application over the interprocess communication pathway (e.g., HTTP strings sent over a TCP connection) (step 84). Upon receiving the formatted command data string, the external API of the 3-D

CAD model visualization application decodes the command data string into the viewpoint representation to be used by the 3-D CAD model visualization application and the 3-D viewpoint is updated (step 86). The computer system displays the panoramic image for the reference production aircraft and the 3-D CAD model visualization of the current production aircraft side by side on the same display device from the same user-selected viewpoint (step 88). A determination is then made whether additional updates are desired or not (step 90). If additional updates are desired, then the process returns to step 78. If additional updates are not desired, then the process terminates.

In accordance with one implementation, the viewpoints are sent between applications only when directly requested by the user. In accordance with alternative implementations, automatic continuous updates of the viewpoint are provided using a similar continuously updated communication process.

The panoramic imaging/3-D visualization integration described hereinabove can be used to deliver both “as-built” and “as-designed” representations and automated data updates for specific line number aircraft during aircraft assembly.

FIG. 10 shows a display screen 32 with two windows, one window 22 for displaying a first toolbar 26 and a 3-D CAD model visualization 34 of a 3-D model of an object or portion thereof and another window 24 for displaying a second toolbar 28 and a video image 38 of the object or portion thereof. The second toolbar 28 may be used to select one video camera from a plurality of video cameras arranged to surveil the object of interest. For example, the toolbar 28 can be used to cause the display of an overview map showing the respective locations of the video cameras in the target environment (i.e., relative to the target object). Each video camera may be a stationary wide-FOV camera having a respective viewpoint and respective field-of-view. The overview map (not shown) with selectable video cameras may be used to specify which video camera will be used to acquire video image data representing the scene within its field-of-view. That video image data can be provided directly to a video processor for processor or can be stored in a video database server (not shown in FIG. 10). Using the second toolbar 28 (or overview map), the user starts the process by selecting a desired video camera in the target environment from a representation of camera positions. The video image data from that selected video camera is then loaded into the video display application. The user can then change the viewpoint in the video display application to display a portion of the video image data in each frame corresponding to a region of interest, i.e., the user can change the viewing region of the video images from the selected video camera in order to obtain a desired viewpoint and a desired field-of-view (i.e., of a virtual camera). An algorithm in the video display application then computes the selected viewpoint in the proper format needed for the 3-D CAD model visualization application, and then sends that data to the 3-D CAD model visualization application. In response to receipt of such communication, a corresponding 3-D CAD model visualization 34 having a viewpoint that matches the viewpoint of the video image 38 in window 24 will be displayed in window 22. If the user then moves the cursor into window 22, the user can cause the first selected viewpoint of the 3-D CAD model visualization to change using pan, tilt and zoom functions. By returning the cursor to window 24, the user can then select a video image 38 having a different viewpoint. In response to that selection, a corresponding 3-D CAD model visualization 34 having a second selected viewpoint that matches the different viewpoint in window 24 will be displayed in window 22. If the user moves the cursor back into window 22, the user can move the cursor over the 3-D model visualization to perform tasks like selecting objects to find part numbers.

In alternative embodiments, the user is able to move the mouse to the 3-D model visualization application window 22 and adjust the 3-D environment viewpoint of the 3-D CAD model visualization 34. Then in response, the viewpoint of the display of the video image 38 shown in the video display application window 24 is changed by the automated synchronization process to match the 3-D environment viewpoint.

Two examples of side-by-side display of a 3-D CAD model visualization and a panoramic image on a display screen are shown in FIGS. 2 and 3 in the context of an aircraft in production. Similar examples of side-by-side display of a 3-D CAD model visualization and a video image on a display screen would have the same appearance as seen in FIGS. 2 and 3 since a photograph and a frame of a video of the same scene contain the same information. As was the case for synchronized display of panoramic images and 3-D CAD model visualizations, the video image and the 3-D CAD model visualization in the synchronized display disclosed herein would have the same user-selected viewpoint.

An on-site application for side-by-side display is where the user is holding a tablet PC or other portable computing device in the same location as the target (such as next to or inside an aircraft). In this situation, both the 3-D CAD model visualization application and video display application would usually be running on the same device (e.g., a lightweight device like a tablet). Examples of when this setup could take place would be in a training scenario; during inspection/testing before aircraft delivery; after the aircraft has been delivered to the airline customer, there could be maintenance service completion (regular maintenance operation); or aircraft on the ground support.

In accordance with alternative embodiments, the windows that respectively display a video image and a 3-D CAD model visualization can appear on separate display screens of respective display devices that form a display system. These display devices can be placed side by side at a site where a current production aircraft is being produced, where the current production aircraft requires a design modification that is not included in a previously produced reference aircraft.

The systems and methods disclosed herein allow users to view video images captured for a target object of interest or a reference object, and then see the corresponding 3-D models in alignment at the same viewpoint for the specific target object of interest. For example, if the target object were an aircraft and the reference images were captured for the initial aircraft (production line number 1), but custom modifications were made for a later production line number aircraft of the same type, the systems and methods disclosed herein enable a user to see the captured images for an aircraft that looks very similar to the current aircraft, but then show another view (3-D model) for the specific aircraft in question that includes the design modifications for the current production line number aircraft, whereby modifications are displayed for use in assembly of the current production aircraft.

The concept disclosed herein combines video image display and 3-D model visualization to deliver both “as-built” and “as-designed” representations and automated data updates for a target object of interest (e.g., specific line number aircrafts). More specifically, the process allows users to display a video image captured for a target object, and then display a visualization of the corresponding 3-D model of that target object at the same viewpoint. Again interprocess communication between the video display application and the 3-D model visualization application provides the ability to synchronize viewpoints, fields-of-view and other display features. That interprocess communication process is identical to what has been previously described (see above) for the synchronized display of panoramic images and 3-D CAD model visualizations.

During major testing, teams of engineers utilize live strain gauge data feeds as well as live video displays overlaid with data to monitor stresses on the test subject. In some testing scenarios, engineering modeling teams build 3-D models showing the projected simulation of the test given the structural and system design capabilities per the testing scenario. Utilizing the technology outlined in this disclosure would enable the testing teams to utilize the projected 3-D modeled simulation, synchronized side-by-side with the current video and data feeds. This synchronization would enable a better understanding and possible early failure warning of the current live testing. By synchronizing the views of the 3-D model to the live video feed overlaid with time and stress loading, the testing team would be able to compare the live data simultaneously to the projections via the 3-D model simulations. This can be accomplished by a frame synchronization or inter-range instrumentation group time code (IRIG) time synchronization module driving all data capture, viewing and recording systems utilized in the testing. During testing delays, pauses or modifications to the live test, the time synchronization will drive the play, pause or ramp condition viewed in the 3-D model. The view shown in the 3-D model will also match the viewpoint shown in the master video feed, currently being shown or controlled via the synchronized video feed. The viewpoint synchronizations will be accomplished via the same methodology utilized in this disclosure, similar to the parent application.

FIG. 11 shows an architecture in which a video display application 42 and a 3-D CAD model visualization application 10 communicate via a TCP connection 6 using HTTP for the purpose of enabling a user to select the viewpoint of the 3-D visualization of at least a portion of a 3-D CAD model of an aircraft or other object. More specifically, the 3-D CAD model visualization application 10 and the video display application 42 communicate for the purpose of selecting a viewpoint of the 3-D visualization environment that matches the viewpoint of the displayed video image. In accordance with the embodiment depicted in FIG. 11, the data representing video images is received from a wide-FOV video camera 40. A portion of that video image data can be selected by the video display application 42 and then a video image is displayed. Similarly, data representing 3-D CAD models is stored in a 3-D CAD model database 14. Selected 3-D CAD model data can be retrieved by the 3-D CAD model visualization application 10 and rendered into a corresponding 3-D CAD model visualization in display format. The 3-D CAD model database 14 comprises datasets stored in a non-transitory tangible computer-readable storage medium. The 3-D visualization process of the 3-D CAD model visualization application 10 provides a graphical representation of aircraft components in their physical form.

The wide-FOV video camera 40 may be of a type that provides a 360-degree view of the environment, where the user controls virtual pan and tilt inputs that provide the ability to control a smaller sub-image view of the full 360-degree view. For example, the sub-image field-of-view may be set to 45 degrees, which is then matched by the 3-D CAD model visualization application 10 through an API connection through which the video display application 42 sends the user-selected viewpoint. The virtual pan and tilt angles from the live video display application 42 are also passed through the API connection to the 3-D CAD model visualization application 10 to control the virtual camera viewpoint. The access to the video from wide-FOV video cameras 40 can be through wired or wireless connection to a server, which may be located near the target environment.

The above discussion for controlling the sub-image viewpoint is associated with rotational viewpoint control only, but a wide-FOV video camera 40 may also be placed on mobile platforms to provide translational control. This translational control is similar in some respects to how telepresence robotic platforms work, and would be controlled from the high-level interface that instructs the motion platform to move to a user-selected location, while simultaneously updating the 3-D model visualization viewpoint of the scene. Motion platforms may include many different forms, such as wheeled mobile bases, articulated arms or cable-suspended platforms.

Optionally, the video camera may be coupled with a laser range meter to form a local positioning system of the type disclosed in U.S. Pat. No. 7,859,655 or 8,044,991. The location of the video camera in the frame of reference of the target object can be determined using the laser range meter and 3-D localization software that processes the range data received from the laser range meter. For example, the 3-D localization software may be of a type that uses multiple calibration points on the target object. Further details concerning a methodology for generating a camera pose transformation matrix reflecting the position and orientation of a camera relative to a coordinate system of a target object are set forth in U.S. Pat. No. 9,804,577.

Video can also be recorded from a video camera having a 360-degree horizontal field-of-view to create a snapshot of the scene that the user can select to play back from the high-level selection interface.

In accordance with some embodiments, the method for synchronized display involves a video display application 42 that incorporates a client request process and a 3-D CAD model visualization application 10 that incorporates a server response process. These applications may run on processors in respective computer systems or on respective processors in one computer system. The client request process is configured to send an HTTP communication to the server response process. The HTTP communication includes a hypertext command message comprising a string of data specifying the position of a virtual camera, view direction, and the field-of-view angle. The client request process and the server response process have been previously described in detail hereinabove, which detailed description will not be repeated here.

In response to user selection of a viewpoint of a virtual camera, the viewpoint representation conversion process converts the internal representation of the user-selected viewpoint (e.g., the coordinate position, pan and tilt angles, and field-of-view of a virtual camera) to a viewpoint representation having a format acceptable to the 3-D model visualization process (e.g., the coordinate position, look-at position and field-of-view of a virtual camera). The client request process then generates a command message in HTTP. The HTTP message comprises a string of data. The data in the string comprises first data specifying a position of a virtual camera associated with the video image viewpoint and second data specifying an orientation of the virtual camera. Optionally, the data in the string may further comprise third data specifying a field-of-view of the virtual camera. The HTTP communication contains virtual camera position and orientation data specifying the viewpoint selected by the user and to be used by the 3-D model visualization process. The command message is then transferred via a TCP connection from the client request process of the video display application 42 to an external application programming interface (API) defined in the 3-D CAD model visualization application 10 as part of the server response process.

Upon receiving the HTTP communication containing selected viewpoint information, the external API outputs that viewpoint information in accordance with a non-HTTP protocol to an internal API incorporated in the 3-D model visualization application 10, as previously described. In response to receipt of the viewpoint information, the internal API instructs the 3-D visualization process to display a visualization of a 3-D CAD model of the object in a second window with a viewpoint characterized by the virtual camera location specified in the viewpoint information (which viewpoint is the same as the video image viewpoint).

The process described above is enabled by an initial alignment step and then uses a run-time data conversion and interprocess communication between the video display application 42 and the 3-D CAD model visualization application 10 to synchronize the viewpoints and control other display functions. An easy-to-use graphics user interface provides control of the applications in a side-by-side configuration.

An initial alignment calibration process to align the video image data within the coordinate system of the 3-D CAD model (e.g., the coordinate system of the 3-D CAD model of an aircraft) is required in order to synchronize the two types of data. This involves determination of offset values for translation (i.e., position) and rotation (i.e., orientation). It is possible to do this step manually by interactive iterative alignment of the video camera used to acquire video images with position markers incorporated in the target object (e.g., markers indicating station, water and butt lines inside a fuselage of an aircraft) or automatically using feature recognition. This process only needs to take place once per camera, and the offsets can be applied to convert the coordinates of the video imaging environment to the coordinate system of the 3-D model environment (or the reverse).

In order to provide matching viewpoints between the video display application 42 and the 3-D CAD model visualization application 10, the viewing data as represented internally by the former must be converted to the form required by the latter, encoded for data transfer (e.g., using HTTP), transmitted (e.g., via a TCP connection), decoded, and then applied, as previously described above in the context of the synchronized display of panoramic images and 3-D CAD model visualizations.

Looking at this from the video display application side first, a video image in accordance with one embodiment may be viewed using a two-axis input that controls the pan and tilt angles of a virtual camera. One approach to converting this data into a form that can be used by a 3-D CAD model visualization application was previously described above. The approach consists of converting the pan-tilt data into a look-from position, look-at point, and “up” vector format. The equations for the coordinates of the look-at point and for the “up” vector are set forth above. Alternatively, a 4×4 homogeneous transformation matrix and field-of-view could be used, or quaternions and field-of-view, as well as other formats.

The Cartesian look-from position (X,Y,Z) is calculated by adding the translation offset from the initial alignment calibration to the panoramic location. Orientation alignment may be performed by adding angle offsets to the view direction pan and tilt angles.

Note that typically, the field-of-view (FOV) value is set to be the same between the two applications. In some embodiments, a scale factor and/or offset may need to be applied to convert from the video display application field-of-view value to the form used for the 3-D CAD model visualization application field-of-view.

Next, this data needs to be converted into a form that can be transmitted between the two applications over the interprocess communications connection. One approach to accomplishing this is to use HTTP. As previously described, the server response process incorporated in the 3-D model visualization application 10 incorporates an external API. Developers of the video display application 42 would then be able to create functions (such as setting a viewpoint) that will generate command data strings of data sent through the HTTP communication connection that comply with the 3-D CAD model visualization application API format. The data in each HTTP command data string includes X,Y,Z position and an orientation (look direction vector and up vector) of a virtual camera. Data specifying the field-of-view of a virtual camera may also be included. An example of an HTTP command data string that sets the viewpoint and FOV has been previously described in detail with reference to the synchronized display of panoramic images and 3-D model visualizations, and may be the same for the synchronized display of video images and 3-D model visualizations.

In accordance with some embodiments, the 3-D CAD model visualization application 10 and the video display application 42 run on the same computer. FIG. 12 shows the 3-D CAD model visualization application 10 and video display application 42 running on a single computer 16 having a display interface with respective windows (not shown) for displaying the video image and the 3-D visualization on the same screen. In this configuration, the HTTP communication is via a TCP connection 6.

In accordance with other embodiments, the 3-D CAD model visualization application 10 and the video display application 42 run on different computers, which can be useful in cases where insufficient visualization resources are available on a single computer. FIG. 13 shows the 3-D CAD model visualization application 10 running on a first computer 18 and the video display application 42 running on a second computer 20. In this configuration, the HTTP communication is via an Ethernet connection 4. Each computer has a respective display interface. Computer 18 comprises a display interface having a window (not shown) for displaying the 3-D visualization, while computer 20 comprises a display interface having a window (not shown) for displaying the video image.

In some cases it may be useful to have multiple instances of the video display application 42 running simultaneously, each showing different views, but connected to the same instances of the 3-D model visualization application, where each video display application takes turns updating the view in the 3-D model visualization application. FIG. 14 is a block diagram showing an architecture in which a single computer 18 running a 3-D model visualization application 10 is able to communicate with a multiplicity of computers 20 a-20 c running respective video display applications 42 via respective Ethernet connections. In accordance with the architecture depicted in FIG. 14, a respective client request process incorporated in each video display application 42 may send command messages to a server which takes the form of a server response process incorporated in the 3-D model visualization application 10. The respective video display applications 42 are preferably different. For example, each video display application 42 may comprise a respective video imaging process which is configured to display video images of the components of respective different aircraft representations in their physical form. Computer 18 may communicate with computers 20 a-20 c via an Ethernet local area network 2. In alternative embodiments, the HTTP communications between the computers may be via the Internet.

FIG. 15 is a flowchart identifying steps of a method 150 for side-by-side display of a video image and a 3-D model visualization of a complex object in accordance with one embodiment. The method 150 starts with the user selecting a target environment (e.g. a complex object), which consists of a video camera set as a 3-D CAD model dataset (step 152) using respective graphical user interfaces displayed by the display system. A connection is established between the selected video camera and the video display application, and the 3-D CAD model dataset is retrieved from a non-transitory tangible computer-readable storage medium and then loaded into the 3-D CAD model visualization application (steps 154). An interprocess communication connection is established between the video display application and the 3-D CAD model visualization application (step 156). Using the video display graphical user interface, the user selects the desired viewpoint in the video display application (step 158). The viewpoint representation conversion process of the video display application then computes the appropriate viewpoint parameter values for the 3-D CAD model visualization application from the current virtual camera location data associated with the video image being displayed by the video display application (step 160). The client request process of the video display application then encodes that current virtual camera location data into a representation (such as a formatted command data string) appropriate for the external API of the 3-D CAD model visualization application and sends the command data string to the 3-D CAD model visualization application over the interprocess communication pathway (e.g., HTTP strings sent over a TCP connection) (step 162). Upon receiving the formatted command data string, the external API of the 3-D CAD model visualization application decodes the command data string into the viewpoint representation to be used by the 3-D CAD model visualization application and the 3-D viewpoint is updated (step 164). A determination is then made whether additional updates are desired or not (step 166). If additional updates are desired, then the process returns to step 156. If additional updates are not desired, then the process terminates.

FIG. 16 is a flowchart identifying steps of a method for side-by-side display of a video image and a 3-D model visualization of a current production aircraft. In alternative situations, the video image of a reference production aircraft may be used in place of a video image of the current production aircraft.

The method 170 starts with the user selecting (or setting up) a video camera having the target area of interest on the current production aircraft in its field-of-view (step 172) using a first graphical user interface displayed by the display system. The user also selects a 3-D CAD model dataset associated with the current production aircraft (step 174) using a second graphical user interface displayed by the display system. A connection is established between the selected video camera and the video display application, and the 3-D CAD model dataset is retrieved from a non-transitory tangible computer-readable storage medium and then loaded into the 3-D CAD model visualization application (steps 176). An interprocess communication connection is established between the video display application and the 3-D CAD model visualization application (step 178).

Using the video display graphical user interface, the user selects the desired viewpoint of a virtual camera in the video display application (step 180). The viewpoint representation conversion process of the video display application then computes the appropriate viewpoint parameter values for the 3-D CAD model visualization application from the current virtual camera location data associated with the video image being displayed by the video display application (step 182). The client request process of the video display application then encodes that current virtual camera location data into a representation (such as a formatted command data string) appropriate for the external API of the 3-D CAD model visualization application and sends the command data string to the 3-D CAD model visualization application over the interprocess communication pathway (e.g., HTTP strings sent over a TCP connection) (step 184). Upon receiving the formatted command data string, the external API of the 3-D CAD model visualization application decodes the command data string into the viewpoint representation to be used by the 3-D CAD model visualization application and the 3-D viewpoint is updated (step 186). The computer system displays the video image and the 3-D CAD model visualization of the current production aircraft side by side on the same display device from the same user-selected viewpoint (step 188). A determination is then made whether additional updates are desired or not (step 190). If additional updates are desired, then the process returns to step 178. If additional updates are not desired, then the process terminates.

In accordance with one implementation, the viewpoints are sent between applications only when directly requested by the user. In accordance with alternative implementations, automatic continuous updates of the viewpoint are provided using a similar continuously updated communication process.

The video display/3-D visualization integration described hereinabove can be used to deliver both “as-built” and “as-designed” representations and automated data updates for specific line number aircraft during aircraft assembly.

In preceding sections of this disclosure, the camera control application was treated as being part of the video display application 42. The low-level camera control is integrated with and directed by the video display application 42 through its own communication pathway (which may be through a different API). The video display application 42 communicates with the 3-D CAD model visualization application 10 through the aforementioned API connection.

In accordance with a variation of this configuration, the video display application 42 may direct a separate low-level camera control application. In this embodiment, the video display application 42 communicates with both the camera control application and the 3-D CAD model visualization application 10.

In accordance with a further variation, it may be possible to have a low-level camera control application be the part that has the API connection to the 3-D CAD model visualization application. The most likely scenario for that would be to have the camera control directly integrated with the video display application 42, but it is also possible that the video display is controlled by signals from the low-level camera control application.

In the first two variations described above, the video display application 42 is the user interface part of the camera video side, and in the third option, the low-level camera control application provides the interface.

All three approaches are possible.

FIG. 17 is a block diagram identifying components of a computer system suitable for executing the data reception, processing and display functions disclosed herein in accordance with one proposed implementation. The computer system 100 is capable of providing bi-directional communication with a video camera via a receive path and a transmit path. On the receive path, video image signals transmitted by a transceiver associated with the video camera are received by a transceiver 128 via an antenna (not shown). The transceiver 128 conditions and digitizes the received video image signals and provides samples to the computer system 100 for further processing. On the transmit path, the transceiver receives camera control data to be transmitted from computer system 100, processes and conditions the camera control data, and generates a modulated signal, which is transmitted via an antenna (not shown) to the video camera.

The computer system 100 includes various processing, interface and memory units such as, for example, a controller/processor 102, an internal memory 106, a graphics processor 108, a network interface 114, a video processor 118, a display processor 120, an external bus interface 122, and an input device interface 124, all of which are connected to and can communicate via a data bus 116. The controller/processor 102 may direct the operation of the various processing and interface units within computer system 100. The display processor 120 processes data to facilitate the display of video images and 3-D model visualizations on a display unit 110. The graphics processor 108 processes the 3-D CAD model data and sends the processed data to the display processor 120 for display. The video processor 118 processes the video image data received from the video camera and sends the processed data to the display processor 120 for display. The input device interface 124 is configured to convert inputs by a user into electrical signals representing a user-selected viewpoint of a virtual camera for use in the display of video image data captured by the video camera (not shown). The internal memory 106 stores data and/or instructions for various units within the computer system 100. The external bus interface 122 facilitates transfer of data between the computer system 100 (e.g., internal memory 106) and a storage unit 104 (e.g., the 3-D CAD model database server 14). The internal memory 106 and the storage unit 104 are respective non-transitory tangible computer-readable storage media. The various processors identified in FIG. 17 may be implemented with one or more digital signal processors, microprocessors, etc.

A processor is generally any piece of computer hardware that is capable of executing computer programs that process data (e.g., a 3-D model visualization application). A processor may comprise electronic circuits, some of which may be packaged as an integrated circuit (e.g., a chip) or multiple interconnected integrated circuits. Each processor may be configured to execute computer programs, which may be stored onboard the processor or otherwise stored in a memory as computer-readable program code. In alternative embodiments, the processor may be embodied as or otherwise include one or more application-specific integrated circuits, field-programmable gate arrays or the like.

The storage unit 104 is generally any piece of hardware that is capable of storing digital data and computer programs (e.g., computer-readable program code and 3-D model files) on a permanent basis. Such storage may take the form of a hard drive, a solid-state drive, a USB flash drive, an optical disk, a magnetic tape or some combination thereof.

The internal memory 106 is generally any piece of computer hardware that is capable of storing digital data and computer programs (e.g., computer-readable program code and a 3-D model file) on a temporary basis. The internal memory 106 may include volatile and non-volatile memory, and may be fixed or removable. Examples of suitable memory include random access memory, read-only memory, a hard drive, a flash memory, a thumb drive, an SD card, an optical disk, or some combination thereof.

In various instances, the storage unit 104 and the internal memory 106 may be referred to as a non-transitory tangible computer-readable storage medium. A non-transitory tangible computer-readable storage medium is a non-transitory device capable of storing information, and is distinguishable from computer-readable transmission media such as electronic transitory signals capable of carrying information from one location to another.

The system 100 further comprises one or more input devices 112. The input device 112 may be wired or wireless, and may be configured to receive information from a user into the apparatus, such as for processing, storage and/or display. Examples of suitable user input devices include a mouse, microphone, image or video capture device, keyboard or keypad, joystick, touch-sensitive surface (separate from or integrated into a touchscreen), biometric sensor or the like.

In response to the input of a 3-D visualization activation command from the user via input device 112, the graphics processor 108 retrieves a file containing 3-D model data from the storage unit 104 and stores it temporarily in the internal memory 106. The graphics processor 108 selectively processes the 3-D model data stored in internal memory 106 in accordance with other user inputs received via the input device 112 and in accordance with instructions read from the 3-D model visualization application software stored in internal memory 106.

In accordance with one implementation, the 3-D model visualization application uses a graphics programming environment (like openGL) to instruct the graphics processor 108 to load a 3-D model from storage unit 104. Sometimes the 3-D model data goes into the internal memory 106 and then is loaded into graphics memory (not shown) which is associated with or incorporated in the graphics processor 108, and on other occasions it may go directly into the graphics memory. The graphics processor 108 and associated graphics memory may be parts of an integrated graphic processing unit.

The graphics processor 108 is configured to render for display digital 3-D models of a structural product composed of a plurality of parts and with respective viewpoints in response to receipt of coordinate transformation matrices from the controller/processor 102. More specifically, the graphics processor 108 processes the 3-D model data and outputs pixel data to a digital image or raster graphics image file for display on the display unit 110. In the alternative, it is common for high-end systems to have a central processing unit (CPU) as well as a graphics processing unit (GPU), but some systems, like lower-end computing systems or smartphones, may have a single processor with an embedded graphics processing chip (often referred to as “integrated” graphics), or even “software” rendering, which uses the CPU to render the images.

The controller/processor 102 may also be connected to a network interface 114 for transmitting and/or receiving information, such as to and from other apparatus(es), network(s) or the like. The network interface 114 may be configured to transmit and/or receive information by physical (wired) and/or wireless communications links. Examples of suitable communication interfaces include a network interface controller (NIC), wireless NIC or the like.

The display unit 110 may be configured to present or otherwise display information to a user. Suitable examples include a liquid crystal display, light-emitting diode display, plasma display panel or the like.

FIG. 18 is a block diagram identifying some components of a system 94 which can be used to capture video images of a target object (not shown in FIG. 18). The system 94 comprises a video camera 92 that is mounted to a pan-tilt mechanism 96. More specifically, the pan-tilt mechanism 96 comprises a tilt unit 144 and a pan unit 146. The video camera 92 is fixedly coupled to the tilt unit 144, while the tilt unit 144 is rotatably coupled to the pan unit 146. The pan unit 146 in turn may be rotatably coupled to either a tripod or a mobile platform (not shown in FIG. 18. The system 94 depicted in FIG. 18 further comprises a computer system 132 that is configured to send control signals for activating operation of the video camera 92 and receive video image data in return. The computer system 132 is able to communicate with the computer at the production site via a transceiver 130. For example, the transceiver may communicate with the transceiver 128 identified in FIG. 17.

Rotation of the tilt unit 144 is driven by a tilt motor 140, while rotation of the pan unit 146 is driven by a pan motor 142. During aiming of the video camera 92, feedback signals representing the tilt angle of the tilt unit 144 and the pan angle of the pan unit 146 are sent to the computer system 132 by a tilt angle encoder 148 a and a pan angle encoder 148 b respectively.

The operation of tilt motor 140 and pan motor 142 is controlled by respective motor controllers 138 which receive control signals from the computer system 132. The computer system 132 can adjust the orientation of the video camera 92 (i.e., adjust the look direction vector) by sending commands to the motor controllers 138 in response to receipt of camera viewpoint control signals from the user of the system depicted in FIG. 17. The pan-tilt mechanism 96 can be controlled to rotationally adjust the look direction vector to produce the commanded viewpoint of the video camera 92 in the frame of reference of the target object.

The computer system 132 may be operated to rotate and zoom the optical image field of the video camera 92 until the user-selected viewpoint and field-of-view are attained. The video camera 92 is then activated to capture video image data and send it to the computer system that is running the video display application.

FIG. 19 is a flowchart identifying steps of a method 200 for side-by-side display of a video image and a 3-D model visualization of an aircraft in production in accordance with one proposed implementation. The method 200 comprises the following steps: (a) storing a 3-D model dataset in a non-transitory tangible computer-readable storage medium, which 3-D model dataset, when rendered, will visualize a 3-D model of a current production aircraft (step 202); (b) activating a video camera to acquire video image data representing a scene within the field-of-view of the video camera, which scene includes at least a portion of a reference production aircraft or the current production aircraft (step 204); (c) selecting a user-selected viewpoint of a virtual camera for use in displaying video image data acquired by the video camera (step 206); (d) processing the video image data so that video images will have the user-selected viewpoint (step 208); (e) converting an internal representation of the user-selected viewpoint to a viewpoint representation having a format acceptable to a 3-D model visualization process (step 210); (f) constructing a command data string containing encoded data specifying parameter values of the viewpoint representation formatted for 3-D model visualization (step 212); (g) sending the command data string from the video display application and receiving the command data string at the 3-D model visualization application (step 214); (h) decoding the command data string into the specified parameter values for 3-D model visualization (step 216); (i) retrieving 3-D model data from the non-transitory tangible computer-readable storage medium (step 218); (j) processing the 3-D model data so that 3-D model visualizations will have the user-selected viewpoint (step 220); and (k) concurrently displaying video images with the user-selected viewpoint and a 3-D model visualization with the user-selected viewpoint (step 220). For the avoidance of doubt, it should be noted that as the viewpoint of the video images is changed by the user, the viewpoint of the 3-D visualization will automatically adjust to undergo the same change in viewpoint.

As used in the claims, the term “computer system” should be construed broadly to encompass a system having at least one computer or processor, and which may have multiple computers or processors that communicate through a network or communications bus. As used in the preceding sentence, the terms “computer” and “processor” both refer to devices comprising a processing unit (e.g., a central processing unit, an integrated circuit or an arithmetic logic unit). Examples of suitable computer systems include a smartphone, tablet computer, laptop computer, desktop computer, workstation computer, smart watch, head-mounted display or other wearable displays. The computer system may include one or more of each of a number of components such as, for example, the various processors depicted in FIG. 17.

While systems and methods for synchronized display of panoramic images and 3-D model visualizations and synchronized display of video images and 3-D model visualizations have been described with reference to various embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the teachings herein. In addition, many modifications may be made to adapt the concepts and reductions to practice disclosed herein to a particular situation. Accordingly, it is intended that the subject matter covered by the claims not be limited to the disclosed embodiments.

As used herein, the term “location” comprises position in a fixed 3-D coordinate system and orientation relative to that coordinate system.

The methods described herein may be encoded as executable instructions embodied in a non-transitory tangible computer-readable storage medium, including, without limitation, a storage device and/or a memory device. Such instructions, when executed by a processor or computer, cause the processor or computer to perform at least a portion of the methods described herein.

The method claims set forth hereinafter should not be construed to require that the steps recited therein be performed in alphabetical order (any alphabetical ordering in the claims is used solely for the purpose of referencing previously recited steps) or in the order in which they are recited unless the claim language explicitly specifies or states conditions indicating a particular order in which some or all of those steps are performed. Nor should the method claims be construed to exclude any portions of two or more steps being performed concurrently or alternatingly unless the claim language explicitly states a condition that precludes such an interpretation. 

1. A system for synchronized display of video images and visualizations of three-dimensional models for use in assembly of an aircraft, comprising: a non-transitory tangible computer-readable storage medium storing a three-dimensional model dataset which can be rendered to visualize a three-dimensional model of a current production aircraft; a video camera having a field-of-view that encompasses at least a portion of either a reference production aircraft or the current production aircraft; a computer system hosting a video display application for displaying video image data captured by the video camera and a three-dimensional model visualization application for displaying three-dimensional model data retrieved from non-transitory tangible computer-readable storage medium, the video display application comprising a camera control process, a video display process, a viewpoint representation conversion process and a client request process, while the three-dimensional model visualization application comprises a three-dimensional model visualization process and a server response process; a display system configured to facilitate the concurrent display of video image data captured by the video camera and three-dimensional model data in separate display areas; and an input device interface for converting inputs by a user into electrical signals representing a user-selected viewpoint of a virtual camera for display by the display system of video image data captured by the video camera, wherein the camera control process is configured to generate camera control signals to activate the video camera to capture video images; the video display process is configured to process the video image data received from the video camera so that video images will have the user-selected viewpoint when displayed by the display system; the viewpoint representation conversion process is configured to convert an internal representation of the user-selected viewpoint to a viewpoint representation having a format acceptable to the three-dimensional model visualization process; the client request process is configured to construct and transmit a command data string containing encoded data specifying parameter values of the viewpoint representation formatted for three-dimensional model visualization; the server response process is configured to receive and decode the command data string into the specified parameter values for three-dimensional model visualization; and the three-dimensional model visualization process is configured to retrieve three-dimensional model data from the non-transitory tangible computer-readable storage medium and then process the three-dimensional model data so that three-dimensional model visualizations will have the user-selected viewpoint when displayed by the display system.
 2. The system as recited in claim 1, further comprising a pan-tilt mechanism to which the video camera is mounted, wherein the camera control process is further configured to generate camera control signals to command the pan-tilt mechanism to change a viewpoint of the video camera to conform to the user-selected viewpoint prior to activation of the video camera.
 3. The system as recited in claim 1, further comprising a mobile platform to which the video camera is mounted, wherein the camera control process is further configured to generate camera control signals to command the mobile platform to change a position of the video camera.
 4. The system as recited in claim 1, wherein the video display process is further configured to process a subset of the video image data received from the video camera for display with the user-selected viewpoint, the subset of the video image data corresponding to video image data that would be produced by a virtual camera having a field-of-view that is smaller than the field-of-view of the video camera.
 5. The system as recited in claim 1, wherein the concurrently displayed video image of the reference production aircraft or current production aircraft and the three-dimensional model visualization of the current production aircraft are used during assembly of the current production aircraft.
 6. The system as recited in claim 1, wherein the concurrently displayed video image of the reference production aircraft or current production aircraft and the three-dimensional model visualization of the current production aircraft are displayed by respective display units of the display system.
 7. The system as recited in claim 1, wherein the concurrently displayed video image of the reference production aircraft or current production aircraft and the three-dimensional model visualization of the current production aircraft are displayed in respective windows by a display unit of the display system.
 8. The system as recited in claim 7, wherein the computer system comprises: a video processor that hosts the video display application; a graphics processor that hosts the three-dimensional model visualization application and is communicatively coupled to the video processor; and a display processor that is communicatively coupled to the video processor, the graphics processor and the display system, wherein the display processor is configured to control the display system to concurrently display video image data received from the video processor in one window and three-dimensional model data received from the graphics processor in another window.
 9. The system as recited in claim 1, wherein the data representing the viewpoint contained in the command data string comprises coordinates of a look-from position and coordinates of a look-at point.
 10. The system as recited in claim 9, wherein the data representing the viewpoint contained in the command data string further comprises an angle value describing the field-of-view.
 11. The system as recited in claim 1, wherein the three-dimensional model visualization shows an aircraft design modification not seen in the video image.
 12. The system as recited in claim 1, wherein the three-dimensional model visualization displays a time-based three-dimensional model simulating a process or action.
 13. A method for synchronized display of video images and three-dimensional model visualizations for use in assembly of an aircraft, comprising: storing a three-dimensional model dataset in a non-transitory tangible computer-readable storage medium, which three-dimensional model dataset, when rendered, will visualize a three-dimensional model of a current production aircraft; locating a video camera so that a field-of-view of the video camera encompasses at least a portion of either a reference production aircraft or the current production aircraft; converting an input by a user into electrical signals representing a user-selected viewpoint of a virtual camera; activating the video camera to capture video images representing a scene within the field-of-view of the video camera; processing the video image data received from the video camera so that video images will have the user-selected viewpoint when displayed; converting an internal representation of the user-selected viewpoint to a viewpoint representation having a format acceptable to a three-dimensional model visualization process; constructing and transmitting a command data string containing encoded data specifying parameter values of the viewpoint representation formatted for three-dimensional model visualization; receiving and decoding the command data string into the specified parameter values for three-dimensional model visualization; retrieving three-dimensional model data from the non-transitory tangible computer-readable storage medium; processing the three-dimensional model data so that three-dimensional model visualizations will have the user-selected viewpoint when displayed; and concurrently displaying video images and a three-dimensional model visualization, wherein the displayed video images and the displayed three-dimensional model visualization have respective viewpoints which approximate if not equal the user-selected viewpoint.
 14. The method as recited in claim 13, wherein the data representing the user-selected viewpoint contained in the command data string comprises coordinates of a look-from position and a look direction vector of the virtual camera.
 15. The method as recited in claim 14, wherein the command data string further comprises an angle value describing the field-of-view of the virtual camera.
 16. The method as recited in claim 13, wherein the command data string is transmitted via a transmission control protocol connection to an external application programming interface defined in the three-dimensional model visualization application.
 17. The method as recited in claim 13, wherein the three-dimensional model visualization displays a time-based three-dimensional model simulating a process or action.
 18. A method for synchronized display of video images and three-dimensional model visualizations for use in assembly of an aircraft, comprising: storing a three-dimensional model dataset in a non-transitory tangible computer-readable storage medium, which three-dimensional model dataset, when rendered, will visualize a three-dimensional model of a current production aircraft; activating a video camera to acquire video image data representing a scene within the field-of-view of the video camera, which scene includes at least a portion of a reference production aircraft or the current production aircraft; selecting a user-selected viewpoint of a virtual camera for use in displaying video image data acquired by the video camera; processing the video image data so that video images will have the user-selected viewpoint; converting an internal representation of the user-selected viewpoint to a viewpoint representation having a format acceptable to a three-dimensional model visualization process; constructing and transmitting a command data string containing encoded data specifying parameter values of the viewpoint representation formatted for three-dimensional model visualization; receiving and decoding the command data string into the specified parameter values for three-dimensional model visualization; retrieving three-dimensional model data from the non-transitory tangible computer-readable storage medium; processing the three-dimensional model data so that three-dimensional model visualizations will have the user-selected viewpoint; and concurrently displaying video images with the user-selected viewpoint and a three-dimensional model visualization with the user-selected viewpoint.
 19. The method as recited in claim 18, wherein the data representing the user-selected viewpoint contained in the command data string comprises coordinates of a look-from position and a look direction vector of the virtual camera.
 20. The method as recited in claim 19, wherein the command data string further comprises an angle value describing the field-of-view of the virtual camera.
 21. A system for synchronized display of video images and visualizations of three-dimensional models for use in assembly an aircraft, comprising: a first non-transitory tangible computer-readable storage medium storing a three-dimensional model dataset which can be rendered to visualize a three-dimensional model of a current production aircraft; a second non-transitory tangible computer-readable storage medium storing video image data which can be processed to display video images of at least a portion of either a reference production aircraft or the current production aircraft; a video processor programmed to execute a video display application for displaying video image data received from the second non-transitory tangible computer-readable storage medium, wherein the video display application comprises a video display process, a viewpoint representation conversion process and a client request process; a graphics processor communicatively coupled to the video processor and programmed to execute a three-dimensional model visualization application for displaying three-dimensional model data received from the first non-transitory tangible computer-readable storage medium, wherein the three-dimensional model visualization application comprises a three-dimensional model visualization process and a server response process; a display system configured to facilitate the concurrent display of video image data and three-dimensional model data in separate display areas; a display processor that is communicatively coupled to the video processor, the graphics processor and the display system; and an input device interface for converting inputs by a user into electrical signals representing a user-selected viewpoint of a virtual camera for display by the display system of video image data, wherein the video display process is configured to process the video image data so that video images will have the user-selected viewpoint when displayed by the display system; the viewpoint representation conversion process is configured to convert an internal representation of the user-selected viewpoint to a viewpoint representation having a format acceptable to the three-dimensional model visualization process; the client request process is configured to construct and transmit a command data string containing encoded data specifying parameter values of the viewpoint representation formatted for three-dimensional model visualization; the server response process is configured to receive and decode the command data string into the specified parameter values for three-dimensional model visualization; and the three-dimensional model visualization process is configured to retrieve three-dimensional model data from the non-transitory tangible computer-readable storage medium and then process the three-dimensional model data so that three-dimensional model visualizations will have the user-selected viewpoint when displayed by the display system. 